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Well NVidia are making the graphics chip for the PS3 so the PS3 SDK may include a Cg compiler for it, but then again it may not. I'm sure they'll have some high level shader language available and it will probably look like Cg even if it isn't (note that GLSL and HLSL are both rather similar to Cg, HLSL and Cg are pretty much identical actually, GLSL is a bit different though).

As for the PS2 and the original PS I have no idea what kind of shader language was available. The orignal PS probably didn't have any programable shaders (at least not as we know them today).

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The PS2 doesn't officially support Cg or GLSL or really any open shading language. They didn't exist when the machine was released. In order to get that kind of effect, you'd have to screw around with manually programming its two vector units VU0 and VU1, which has certainly been done.

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The PS2 has no form of fragment shading; in fact, it's fixed-function pixel pipeline is relatively primative. However, the second vector unit can be setup to function very much like a vertex shader; in fact it has rather greater functionality than conventional vertex shaders of the era.